code: def trpo_cubecrash(
      ctxt=None, seed=1, max_episode_length=5, batch_size=4000
  ):
      """Train TRPO with CubeCrash-v0 environment.
  
      Args:
          ctxt (garage.experiment.ExperimentContext): The experiment
              configuration used by Trainer to create the snapshotter.
          seed (int): Used to seed the random number generator to produce
              determinism.
          max_episode_length (int): Maximum length of a single episode.
          batch_size (int): Number of timesteps to use in each training step.
  
      """
      set_seed(seed)
      with TFTrainer(ctxt) as trainer:
          env = normalize(
              GymEnv(
                  "CubeCrash-v0", max_episode_length=max_episode_length
              )
          )
          policy = CategoricalCNNPolicy(
              env_spec=env.spec,
              filters=((32, (8, 8)), (64, (4, 4))),
              strides=(4, 2),
              padding="VALID",
              hidden_sizes=(32, 32),
          )
  
          baseline = GaussianCNNBaseline(
              env_spec=env.spec,
              filters=((32, (8, 8)), (64, (4, 4))),
              strides=(4, 2),
              padding="VALID",
              hidden_sizes=(32, 32),
              use_trust_region=True,
          )
  
          sampler = RaySampler(
              agents=policy,
              envs=env,
              max_episode_length=env.spec.max_episode_length,
              is_tf_worker=True,
          )
  
          algo = TRPO(
              env_spec=env.spec,
              policy=policy,
              baseline=baseline,
              sampler=sampler,
              discount=0.99,
              gae_lambda=0.95,
              lr_clip_range=0.2,
              policy_ent_coeff=0.0,
          )
  
          trainer.setup(algo, env)
          trainer.train(n_epochs=100, batch_size=batch_size)
  
file_path: garage/src/garage/examples/tf/trpo_cubecrash.py
imports: import click
  from garage import wrap_experiment
  from garage.envs import GymEnv, normalize
  from garage.experiment.deterministic import set_seed
  from garage.sampler import RaySampler
  from garage.tf.algos import TRPO
  from garage.tf.baselines import GaussianCNNBaseline
  from garage.tf.policies import CategoricalCNNPolicy
  from garage.trainer import TFTrainer
label_desc: Use image node_id 1 for calling a global function with example usage: trpo_cubecrash(ctxt, seed, max_episode_length, batch_size) without return types